Controller Diagrams

This section contains diagrams for the main PX4 controllers.

The diagrams use the standard PX4 notation (and each have an annotated legend).

Multicopter Position Controller

MC Position Controller Diagram

  • Estimates come from EKF2.
  • This is a standard cascaded position-velocity loop.
  • Depending on the mode, the outer (position) loop is bypassed (shown as a multiplexer after the outer loop). The position loop is only used when holding position or when the requested velocity in an axis is null.
  • The integrator in the inner loop (velocity) controller includes an anti-reset windup (ARW) using a clamping method.

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